Hello,
can someone more experienced clarify what APO_DIST and APO_FAC are?
Thank you.
Hello,
can someone more experienced clarify what APO_DIST and APO_FAC are?
Thank you.
Approximation Distance and approximation factor. Used in inline forms to store the programmed blending radii to define when blending from one motion to the next motion starts. To see how they are applied study bas.src together with looking into tbe system integrators manual and the system variables manual.
Fubini
in short they are collection of characters following KUKA naming convention. probably some variable or parameter names related to approximation.... possibly parts of some inline form instruction...
it would be easier to answer if question contained code example or reference to KSS version or particular instruction. otherwise, who knows, there is no mention of KUKA or KSS or robot and one should never assume. so this could as well be a medical term too, perhaps something gene researches came up with...
assuming that question is about KRL, why not try forum search? note that some things found in KSS are only used internally and may not be documented.
here is an example of search result:
Hello all,
panic mode, yes, you-re right, The question is not asked fully according to the forum rules.
The robot is KRC4, version of software, I don't know exactly, perhaps 8.3...
The lines in question are:
DECL E6POS XK00_P01={X -884.583435,Y 0.0,Z 2039.58899,A 0.0,B -74.9959106,C 0.0,S 1,T 6,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FK00_P01={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
DECL LDAT LK00P01={VEL 2.00000,ACC 100.000,APO_DIST 500.000,APO_FAC 50.0000,AXIS_VEL 100.000,AXIS_ACC 100.000,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0000,GEAR_JERK 100.000,EXAX_IGN 0}
For me, this approximation distance of 500 seems a lot, especially if coordinates are X =800 mm...
That is why I/m trying to understand the logic behind it and how it works.
BTW, I did search the forum first, but didn't find an answer I can fully understand. For example APO_FAC is not explained in the suggested thread.
I have watched the video:
but I'm not closer to understanding. Is APO_DIST in mm?
please get system variable manual and look for $APO. that is a system variable for approximation. it is a structure and $APO.CDIS value is in millimeters.
variables you re asking for are NOT system variables... and as such are not of much interest.
but may be something common in certain version of inline forms. how they are used there would depend on instruction and if it is not documented ... its anyones guess. but chances are that units will match... for details check bas.src.
the programmed approximation distance is usually not the approximation distance that robot actually uses. say you have three points in a plane forming right angle triangle, with sides 300,400 and 500mm.
then you make the three linear motions approximated and play with approximation value but - keep same approximation value even though all three motions are different length... what do you think will happen?
there is a rule that says max approximation distance is the shortest of the three distances:
a) programmed approximation distance
b) half the path length to target point (from previous point)
c) half the path length from target (to next point)
suppose you set $APO.CDIS to 800mm and you are moving through corner where sides are 300 and 500mm
so what are the thee distances?
a) 800mm (as programmed)
b) 150mm (half of 300mm motion)
c) 250mm (half of 500mm motion)
so what value is the shortest of the three? it is the 150mm and that is distance to actually be used, not the 800mm that was programmed.
Yes APO_DIST is approximation distance in mm. APO_FAC on the other hand is a percentage value. In bas.src both are used to calculate corresponding system variable $APO. So lookup bas.src for your software version on how $APO is calculated and system variables manual to understand it and what units are used. Additionally look into system integrators manual to understand how blending works in general.
Fubini